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<div class="title">correspondence_rejection_trimmed.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_rejection.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  {</div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html">   63</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html">CorrespondenceRejectorTrimmed</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html">CorrespondenceRejector</a></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">CorrespondenceRejector::input_correspondences_</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">CorrespondenceRejector::rejection_name_</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">CorrespondenceRejector::getClassName</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;CorrespondenceRejectorTrimmed&gt; Ptr;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const CorrespondenceRejectorTrimmed&gt; ConstPtr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a8f9b10311848ed90aa2eb71f69d2c013">   74</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a8f9b10311848ed90aa2eb71f69d2c013">CorrespondenceRejectorTrimmed</a> () : </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;          overlap_ratio_ (0.5f),</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          nr_min_correspondences_ (0)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        {</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          rejection_name_ = <span class="stringliteral">&quot;CorrespondenceRejectorTrimmed&quot;</span>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        }</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a6e32e414b73ac033164ecf57aad93846">   82</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a6e32e414b73ac033164ecf57aad93846">~CorrespondenceRejectorTrimmed</a> () {}</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="keyword">virtual</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a67e0ace7686815931933d4a7f5380193">   90</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a67e0ace7686815931933d4a7f5380193">setOverlapRatio</a> (<span class="keywordtype">float</span> ratio) { overlap_ratio_ = std::min (1.0f, std::max (0.0f, ratio)); };</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a37fff487fb4319401e79c8b9844df078">   94</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a37fff487fb4319401e79c8b9844df078">getOverlapRatio</a> () { <span class="keywordflow">return</span> overlap_ratio_; };</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a0b3fb3cb485aced0d23ef350c4aa462b">  103</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a0b3fb3cb485aced0d23ef350c4aa462b">setMinCorrespondences</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> min_correspondences) { nr_min_correspondences_ = min_correspondences; };</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#acca29fda36ba91282c0be087fc7ad2a1">  107</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#acca29fda36ba91282c0be087fc7ad2a1">getMinCorrespondences</a> () { <span class="keywordflow">return</span> nr_min_correspondences_; };</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a5fce8b3e3ec05b04f3922df911a90348">  115</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a5fce8b3e3ec05b04f3922df911a90348">getRemainingCorrespondences</a> (<span class="keyword">const</span> pcl::Correspondences&amp; original_correspondences,</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                                     pcl::Correspondences&amp; remaining_correspondences);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a992a35a1eb7548656aa4affdabb41857">  124</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a992a35a1eb7548656aa4affdabb41857">applyRejection</a> (pcl::Correspondences &amp;correspondences)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;          getRemainingCorrespondences (*input_correspondences_, correspondences);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        }</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#aa00d6dd184fa4113daf704eff9ec8ea4">  130</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#aa00d6dd184fa4113daf704eff9ec8ea4">overlap_ratio_</a>;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#abcbca465672616b7ecf6f3d627d2b215">  133</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#abcbca465672616b7ecf6f3d627d2b215">nr_min_correspondences_</a>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    };</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;}</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/correspondence_rejection_trimmed.hpp&gt;</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_</span></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_a74d516ca516f7421fd86a53dec1a57b1"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">pcl::registration::CorrespondenceRejector::input_correspondences_</a></div><div class="ttdeci">CorrespondencesConstPtr input_correspondences_</div><div class="ttdoc">The input correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_aa5996af869d7aaa6b8b8dc156038dd3f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">pcl::registration::CorrespondenceRejector::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:135</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_ab97eb70d3661574301fe1f978576726d"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">pcl::registration::CorrespondenceRejector::rejection_name_</a></div><div class="ttdeci">std::string rejection_name_</div><div class="ttdoc">The name of the rejection method.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_trimmed_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html">pcl::registration::CorrespondenceRejectorTrimmed</a></div><div class="ttdoc">CorrespondenceRejectorTrimmed implements a correspondence rejection for ICP-like registration algorit...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_trimmed.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_trimmed_html_a0b3fb3cb485aced0d23ef350c4aa462b"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a0b3fb3cb485aced0d23ef350c4aa462b">pcl::registration::CorrespondenceRejectorTrimmed::setMinCorrespondences</a></div><div class="ttdeci">void setMinCorrespondences(unsigned int min_correspondences)</div><div class="ttdoc">Set a minimum number of correspondences. If the specified overlap ratio causes to have less correspon...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_trimmed.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_trimmed_html_a37fff487fb4319401e79c8b9844df078"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a37fff487fb4319401e79c8b9844df078">pcl::registration::CorrespondenceRejectorTrimmed::getOverlapRatio</a></div><div class="ttdeci">float getOverlapRatio()</div><div class="ttdoc">Get the maximum distance used for thresholding in correspondence rejection.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_trimmed.h:94</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_trimmed_html_a5fce8b3e3ec05b04f3922df911a90348"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a5fce8b3e3ec05b04f3922df911a90348">pcl::registration::CorrespondenceRejectorTrimmed::getRemainingCorrespondences</a></div><div class="ttdeci">void getRemainingCorrespondences(const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</div><div class="ttdoc">Get a list of valid correspondences after rejection from the original set of correspondences.</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_trimmed_html_a67e0ace7686815931933d4a7f5380193"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a67e0ace7686815931933d4a7f5380193">pcl::registration::CorrespondenceRejectorTrimmed::setOverlapRatio</a></div><div class="ttdeci">virtual void setOverlapRatio(float ratio)</div><div class="ttdoc">Set the expected ratio of overlap between point clouds (in terms of correspondences).</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_trimmed.h:90</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_trimmed_html_a6e32e414b73ac033164ecf57aad93846"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a6e32e414b73ac033164ecf57aad93846">pcl::registration::CorrespondenceRejectorTrimmed::~CorrespondenceRejectorTrimmed</a></div><div class="ttdeci">virtual ~CorrespondenceRejectorTrimmed()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_trimmed.h:82</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_trimmed_html_a8f9b10311848ed90aa2eb71f69d2c013"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a8f9b10311848ed90aa2eb71f69d2c013">pcl::registration::CorrespondenceRejectorTrimmed::CorrespondenceRejectorTrimmed</a></div><div class="ttdeci">CorrespondenceRejectorTrimmed()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_trimmed.h:74</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_trimmed_html_a992a35a1eb7548656aa4affdabb41857"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#a992a35a1eb7548656aa4affdabb41857">pcl::registration::CorrespondenceRejectorTrimmed::applyRejection</a></div><div class="ttdeci">void applyRejection(pcl::Correspondences &amp;correspondences)</div><div class="ttdoc">Apply the rejection algorithm.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_trimmed.h:124</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_trimmed_html_aa00d6dd184fa4113daf704eff9ec8ea4"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#aa00d6dd184fa4113daf704eff9ec8ea4">pcl::registration::CorrespondenceRejectorTrimmed::overlap_ratio_</a></div><div class="ttdeci">float overlap_ratio_</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_trimmed.h:130</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_trimmed_html_abcbca465672616b7ecf6f3d627d2b215"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#abcbca465672616b7ecf6f3d627d2b215">pcl::registration::CorrespondenceRejectorTrimmed::nr_min_correspondences_</a></div><div class="ttdeci">unsigned int nr_min_correspondences_</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_trimmed.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_trimmed_html_acca29fda36ba91282c0be087fc7ad2a1"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html#acca29fda36ba91282c0be087fc7ad2a1">pcl::registration::CorrespondenceRejectorTrimmed::getMinCorrespondences</a></div><div class="ttdeci">unsigned int getMinCorrespondences()</div><div class="ttdoc">Get the minimum number of correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_trimmed.h:107</div></div>
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